Title :
Terrain and obstacle detection for walking machines using a stereo-camera-head
Author :
Berns, Karsten ; Kepplin, Volker ; Dillmann, Rüdiger
Author_Institution :
Forschungszentrum Inf., Karlsruhe Univ., Germany
fDate :
31 Aug-4 Sep 1998
Abstract :
In this paper, the stereo camera system of the walking machine LAURON II is described. The whole system is used in a way such that obstacles in the moving direction of the machine are detected. As a measurement technique, two grayscale cameras combined with a line laser are used, which evaluate changes of the shape of the generated line. Based on the two camera images and with the help of triangulation, it is also possible to calculate the distance to an object in front of the machine
Keywords :
laser ranging; legged locomotion; robot vision; stereo image processing; LAURON II; grayscale cameras; line laser; measurement technique; obstacle detection; stereo-camera-head; terrain detection; triangulation; walking machines; Cameras; Computer architecture; Foot; Gray-scale; Laser transitions; Leg; Legged locomotion; Measurement techniques; Robot kinematics; Shape measurement;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.724265
